In order to test whether a ray hits a transformed object, we need to describe the ray in the object’s local coordinates. We transform the ray by the inverse of the local to world matrix, T-1. If the ray is defined by P(t) = E + tD then the ray in local coordinates is defined by T-1(P(t)) = T-1(E) + t(T-1 3x3 D) where T-1 3x3